/*
 * trunk.h
 *
 *  Created on: Nov 26, 2012
 *      Author: michiel
 */

#ifndef TRUNK_MODEL_H_
#define TRUNK_MODEL_H_

#include "model_connector.h"
#include "comm/trunk_msg.h"

class TrunkModel : public ModelConnector {
	protected:
		int position_;
		float angle_;
	public:
		TrunkModel() : ModelConnector() {
			_done			= true;
			angle_		= 0.0;
			position_	= 0;
		}
		~TrunkModel() {}
		void init();
		void spin();
		void prepState();
		void handlerCallback(const comm::trunk::ConstPtr &msg);
		void moveTrunk();
};


#endif /* TRUNK_MODEL_H_ */
